US7324915B2 - Data transmission to a position sensor - Google Patents
Data transmission to a position sensor Download PDFInfo
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- US7324915B2 US7324915B2 US11/181,717 US18171705A US7324915B2 US 7324915 B2 US7324915 B2 US 7324915B2 US 18171705 A US18171705 A US 18171705A US 7324915 B2 US7324915 B2 US 7324915B2
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0002—Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network
- A61B5/0031—Implanted circuitry
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
- A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
- A61B5/7235—Details of waveform analysis
- A61B5/7253—Details of waveform analysis characterised by using transforms
- A61B5/7257—Details of waveform analysis characterised by using transforms using Fourier transforms
Definitions
- the present invention relates generally to position tracking systems, and specifically to methods and devices for wireless communication with devices and tools that are used in position tracking systems.
- data is exchanged wirelessly between the external system and the intrabody object.
- U.S. Pat. No. 6,409,674 whose disclosure is incorporated herein by reference, describes an implantable sensor device, such as a pressure monitor, which is implanted in the heart.
- the device wirelessly communicates blood pressure information or other physical parameters to a remote communication device.
- the wireless communication techniques noted in this patent include radio-telemetry, inductive coupling, passive transponders, and conductive communication using the body as a conductor.
- Another position tracking system that comprises wireless communication using inductive coupling is described in U.S. Patent Application Publication 2003/0120150 A1, whose disclosure is also incorporated herein by reference.
- the inventors describe a system in which a wireless transponder is fixed to an object.
- the transponder includes at least one sensor coil, in which a signal current flows responsively to sensed electromagnetic fields.
- a power coil receives an RF driving field and conveys electrical energy from the driving field to power the transponder.
- the power coil also transmits an output signal responsive to the signal current to a signal receiver, which processes the signal to determine coordinates of the object.
- Embodiments of the present invention provide improved methods and devices for wireless communication in a position tracking system.
- these methods are used for transmitting data, such as control data, to a sensor unit fitted into a tracked object in the position tracking system.
- these methods may be used, mutatis mutandis, to transmit data from a field generator on the tracked object to an external sensor.
- the disclosed methods and devices use the existing position sensor and processing circuits of the sensor control unit as the receiving circuit of a digital communication channel.
- the sensor unit is enabled to receive transmissions of control data with little or no addition of dedicated hardware for this purpose. Because the position-sensing circuitry of the sensor unit is used to extract both the position signals and the control signal, without the need for an additional antenna and receiver for receiving the control instructions, the sensor unit may be made smaller, lower in cost and more reliable.
- digital data is sent to the sensor unit from external field generators by modulating a control signal at an appropriate frequency that is not used for position sensing.
- the modulated control signal is combined with a drive signal that is normally used to drive the field generator.
- the position sensor and receiver circuits that are used for position sensing in the sensor unit receive the additional control signals as well.
- the sensor control unit digitizes, filters out and demodulates the control signal, to reproduce the transmitted digital data.
- different control instructions can be addressed to different sensor units by assigning a unique identification number (ID) to each sensor unit, or by using different modulation frequencies for different control signals.
- ID unique identification number
- the sensor units are fitted into tracked objects such as orthopedic implants, implantable devices, intrabody catheters and endoscopes, as well as into various medical and surgical tools.
- a field generator is coupled to the tracked object and generates a magnetic field that is sensed by the external system.
- a method similar to that described above is used to transmit telemetry and control information from the tracked object without the need for additional transmitter hardware.
- a method for transmitting control instructions to a sensor in a position tracking system including:
- the drive signal has a drive frequency
- superimposing the control signal includes modulating the control instructions on a control sub-carrier having a control frequency, which is different from the drive frequency, so as to enable separation of the control signal from the drive signal.
- detecting the field includes producing a received signal responsive to the detected field, and extracting the control signal from the received signal.
- extracting the control signal includes digitizing the received signal to produce a digitized signal, applying a Fast Fourier Transform (FFT) process to the digitized signal, and detecting energy in an FFT bin that corresponds to the control frequency.
- FFT Fast Fourier Transform
- modulating the control instructions includes switching the control sub-carrier on and off responsively to a binary representation of the control instructions.
- superimposing the control signal includes addressing a first control instruction to a first sensor and addressing a second control instruction, different from the first control instruction, to a second sensor.
- detecting the field includes detecting a first field component based on the control signal and a second field component associated with the position coordinates using a single coil in the sensor.
- controlling the functionality of the sensor includes at least one of controlling a timing of the sensor, calibrating the sensor and compensating for distortions in the detected field.
- the field includes a magnetic field.
- a method for transmitting data from a tracked object in a position tracking system including:
- the one or more external receivers detecting the field in order to determine position coordinates of the tracked object and to demodulate the data-carrying signal so as to extract the data.
- apparatus for transmitting control instructions to a sensor in a position tracking system including:
- a field generator which is coupled to generate a field to be sensed by the sensor
- a signal generator unit which is coupled to generate a drive signal for driving the field generator, while superimposing a control signal including the control instructions on the drive signal;
- a sensor unit including a position sensor, which is coupled to detect the field, and a sensor control unit, which is coupled to generate position signals responsively to the detected field, to demodulate the control signal so as to extract the control instructions and to control a functionality of the sensor based on the extracted control instructions;
- a processor which is coupled to calculate position coordinates of the sensor responsively to the position signals.
- apparatus for transmitting data from a tracked object in a position tracking system including:
- a field generator coupled to the tracked object, which is arranged to generate a field to be sensed by an external system
- a signal generator unit associated with the field generator, which is coupled to generate a drive signal for driving the field generator, while superimposing a data-carrying signal including the data on the drive signal;
- one or more external receivers in the external system which are coupled to detect the field in order to determine position coordinates of the tracked object and to demodulate the data-carrying signal so as to extract the data.
- FIG. 1 is a schematic, pictorial illustration of a magnetic tracking system used in surgery, in accordance with an embodiment of the present invention
- FIG. 2 is a schematic, pictorial illustration showing details of a sensor unit, in accordance with an embodiment of the present invention
- FIG. 3 is a block diagram that schematically illustrates a magnetic tracking system, in accordance with an embodiment of the present invention.
- FIG. 4 is a flow chart that schematically illustrates a method for communicating with a sensor unit, in accordance with an embodiment of the present invention.
- a receiver such as a sensor coil
- the sensor unit is fitted inside a medical implant, a probe or another medical tool.
- a sensor control unit internal to the sensor unit acquires the signals from the receiver, computes position information, and transmits the information to the external system.
- the external system calculates the location and orientation of the sensor unit based on the position information received from the sensor unit.
- a field generator in the implant or tool may generate magnetic fields, which are sensed by a receiver outside the body.
- the external system may transmit timing, calibration or other control commands to the sensor unit.
- the external system may instruct the sensor unit to cancel a signal that is impaired by metal disturbances that distort the magnetic field. This signal cancellation improves the performance of the magnetic tracking system.
- the tracked sensor unit will have no wired connections to the external system. Consequently, data transmission to the sensor unit should be implemented wirelessly.
- a typical example is an orthopedic application, in which the sensor unit is fitted in an orthopedic implant that is implanted into a patient bone.
- Even in certain wired applications, such as catheters and endoscopes it is sometimes beneficial to use wireless data transmission to the sensor unit. Using wireless transmission reduces the number of electrical wires that pass through the catheter or endoscope, thereby reducing its diameter.
- adding a separate wireless communication channel from the external system to the sensor unit is undesirable in terms of the added size and cost and the reduced reliability caused by the added antenna and other hardware components.
- FIG. 1 is a schematic, pictorial illustration of a magnetic tracking system 20 used in surgery, in accordance with an embodiment of the present invention.
- a surgeon 22 performs a medical procedure on a patient 23 using a medical tool 24 .
- Implants 26 are introduced into the patient's body at a surgical site, which is located in this example in a leg 30 of the patient.
- the tracking system guides the surgeon in performing the procedure, in this example a knee-joint operation, by measuring and presenting the positions of implants 26 and tool 24 .
- the system measures the location and orientation coordinates throughout a working volume that comprises the surgical site.
- the coordinates of tool 24 and implants 26 are determined relative to field generators, such as location pads 34 , which are fixed to the patient's body. In the example shown in FIG. 1 , the pads are placed on the patient's calf and thigh, in proximity to implants 26 .
- a signal generator unit 38 generates drive signals that drive the field generators, typically comprising field generating coils, in location pads 34 .
- the location pads are typically connected by wires to unit 38 , although a wireless connection is also feasible.
- the field generating coils generate magnetic fields throughout the working volume.
- Implants 26 and tool 24 contain miniature, wireless sensor units, which are described in detail hereinbelow.
- Each sensor unit comprises a position sensor that is designed to sense the magnetic field in its vicinity.
- the magnetic fields generated by location pads 34 induce currents in the position sensors of the sensor units fitted into tool 24 and implants 26 .
- signal processing and transmitter circuits in each sensor unit generate and transmit position signals that are indicative of the location and orientation of the implant or tool.
- the position signals are received by a wireless control unit 40 , which is coupled to a computer 41 .
- Computer 41 serves as the main system controller of system 20 .
- the computer processes the received signals in order to calculate the relative location and orientation coordinates of tool 24 and implants 26 .
- the results are typically presented to the surgeon on a display 42 .
- control instructions typically represented as digital data words, to be transmitted to the sensor units in implants 26 and/or tool 24 .
- the control instructions comprise timing instructions. Additionally or alternatively, the control instructions comprise calibration information for the sensor units.
- the control instructions enable the sensor unit to mitigate the effects of distortion in the applied magnetic fields. Such distortions are typically caused by the introduction of metallic objects into the working volume.
- the computer instructs the sensor unit to cancel or compensate for a signal that is impaired by metal disturbance. Any other type of control instructions can be transmitted to the sensor unit using the disclosed methods. Control instructions may, for example, instruct the sensor to start or stop its transmission, to wake-up, to switch to a low power mode or otherwise change its mode of operation, or to change its operating frequency.
- signal generator unit 38 In order to transmit the instructions to the sensor unit, signal generator unit 38 generates a modulated control signal, as will be explained in detail below.
- the control signal is modulated on one or more of the drive signals that are used to drive the field generating coils in location pads 34 .
- the control signal modulates one or more of the magnetic fields transmitted to the sensor unit.
- the modulation of the drive signals and the superposition of the control signal on the drive signal are carried out in signal generator unit 38 .
- the modulated drive signals are sent to location pads 34 via the interconnecting wires.
- the location pads receive the control instructions.
- the modulation and superposition functions are then carried out by the location pads.
- the sensor unit When the sensor unit senses the magnetic fields, it demodulates the control signal and decodes the control instructions.
- the location pads generate electromagnetic fields having different frequencies. Typical frequencies are chosen in the range 100 Hz-30 kHz (often referred to as the audio range), although other frequency ranges can also be used.
- the control signal is typically modulated on a sub-carrier having a different audio frequency that is not used by the drive signals.
- the frequency of the control sub-carrier is chosen to allow sufficient frequency separation from the frequencies used for position sensing. Sufficient separation enables the receiver circuitry in the sensor unit to filter out and extract the control signal, as will be explained below.
- the frequencies used by the system for position sensing and for transmitting the control signal are set by computer 41 .
- FIG. 1 The system shown in FIG. 1 is related to an orthopedic application. Further details regarding position tracking systems of this sort can be found in U.S. patent application Ser. No. 11/063,094. Another, similar system for orthopedic applications, in which the principles of the present invention may be implemented, is described in U.S. Provisional Patent Application No. 60/550,924, filed Mar. 5, 2004, now filed as U.S. patent application Ser. No. 11/062,258. All of these applications are assigned to the assignee of the present patent application, and their disclosures are incorporated herein by reference.
- any number of implants 26 , medical tools 24 and location pads 34 can be used.
- Sensor units can be fitted into other types of implants and medical tools, as well as into invasive medical instruments such as catheters and endoscopes.
- the location pads may be attached to the patient's body using any suitable technique, as is known in the art. Alternatively, the location pads can be mounted on a suitable external structure.
- Position sensor 46 and coils 48 and 50 are coupled to a sensor control unit 70 .
- the magnetic fields generated by location pads 34 induce time-varying signal voltages across the position coils in position sensor 46 , as described above.
- Unit 70 receives the signal voltages and generates position signals in response to these voltages.
- Unit 70 drives communication coil 50 to transmit the position signals to a receiving antenna in the external system, typically in wireless control unit 40 .
- FIG. 2 shows an exemplary sensor unit configuration.
- other electrical and mechanical configurations can be used to implement sensor unit 45 to suit different medical implants and instruments.
- Some exemplary sensor unit configurations are given in the above-mentioned patent application Ser. No. 11/062,258.
- FIG. 3 is a block diagram that schematically shows functional elements of magnetic tracking system 20 , in accordance with an embodiment of the present invention.
- a drive signal generator 82 in signal generator unit 38 generates drive signals so as to drive the field generating coils in location pads 34 , as described above.
- a control signal generator 84 in signal generator unit 38 accepts control instructions from computer 41 and generates a control signal, typically modulated on a sub-carrier having a suitable audio frequency. In one exemplary configuration the drive signals use frequencies in the range of 1-3 KHz while the control signal uses a frequency of 8 KHz.
- a mixer 86 combines the control signal with at least one of the drive signals. The drive signals are then used to drive the field generating coils in location pads 34 . ( FIG. 3 shows three location pads 34 , but any number of pads can be used, as explained in the description of FIG. 1 above.)
- control signal generator generates the control signal by switching the sub-carrier signal on and off at a predetermined bit-rate, according to a binary coded representation of the control instructions. This modulation is often referred to as on-off keying (OOK).
- OOK on-off keying
- the sensor control unit then demodulates the filtered signals and produces separate position signals 90 and a control signal 92 .
- Position signals 90 are typically transmitted to wireless control unit 40 .
- the sensor control unit demodulates the control signal to reproduce the control instructions.
- demodulating the control signal typically comprises detecting the presence or absence of signal energy in an FFT bin corresponding to the sub-carrier frequency.
- control instructions are then used to control, calibrate or otherwise operate the sensor unit.
- the position-sensing circuitry of the sensor unit is used to extract both position signals 90 and control signal 92 , without the need for an additional antenna and receiver for receiving the control instructions.
- This configuration enables the design of smaller, lower cost and more reliable sensor units.
- Signal generator unit 38 combines the control signal with one or more of the drive signals generated by drive signal generator 82 using mixer 86 , at a combining step 102 .
- the signal generator unit sends the drive signals to location pads 34 .
- Location pads 34 generate magnetic fields responsively to the drive signals, at a field generation step 104 .
- Position sensor 46 in sensor unit 45 senses the magnetic field in its vicinity, at a sensing step 106 .
- the position sensor generates time-varying voltages responsively to the sensed field.
- the voltages comprise components that correspond to the different drive signals and to the transmitted control signal.
- Sensor control unit 70 receives the voltages and extracts the position signals and the control signal, at an extraction step 108 . As explained above, the control unit amplifies and digitizes the induced voltages.
- the digitized signal is then filtered, typically using FFT, to produce the position signals and control signal.
- the position signals are transmitted, via communication coil 50 and wireless control unit 40 , to computer 41 for processing.
- the control unit demodulates the control signal to reproduce the control instructions transmitted to the sensor unit.
- control signals may be modulated onto fields generated for purposes of position sensing in other types of tracking systems, such as ultrasonic and optical tracking systems.
- Other applications may also include radio frequency identification (RFID) or other tagging systems, such as magnetically-coupled tagging systems.
- RFID radio frequency identification
Abstract
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Claims (18)
Priority Applications (10)
Application Number | Priority Date | Filing Date | Title |
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US11/181,717 US7324915B2 (en) | 2005-07-14 | 2005-07-14 | Data transmission to a position sensor |
AU2006202957A AU2006202957B2 (en) | 2005-07-14 | 2006-07-11 | Data transmission to a position sensor |
IL176790A IL176790A0 (en) | 2005-07-14 | 2006-07-11 | Data transmission to a position sensor |
JP2006193188A JP5279993B2 (en) | 2005-07-14 | 2006-07-13 | Data transmission to position sensor |
EP06253680.0A EP1743574B1 (en) | 2005-07-14 | 2006-07-13 | Data transmission to a position sensor |
MXPA06008074A MXPA06008074A (en) | 2005-07-14 | 2006-07-14 | Data transmission to a position sensor. |
KR1020060066412A KR20070009473A (en) | 2005-07-14 | 2006-07-14 | Data transmission to a position sensor |
CN2006101156313A CN1911159B (en) | 2005-07-14 | 2006-07-14 | Data transmission to a position sensor |
BRPI0602805-5A BRPI0602805A (en) | 2005-07-14 | 2006-07-14 | data transmission to a position sensor |
CA2552180A CA2552180C (en) | 2005-07-14 | 2006-07-14 | Data transmission to a position sensor |
Applications Claiming Priority (1)
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US11/181,717 US7324915B2 (en) | 2005-07-14 | 2005-07-14 | Data transmission to a position sensor |
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US7324915B2 true US7324915B2 (en) | 2008-01-29 |
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US11/181,717 Active 2025-11-06 US7324915B2 (en) | 2005-07-14 | 2005-07-14 | Data transmission to a position sensor |
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US (1) | US7324915B2 (en) |
EP (1) | EP1743574B1 (en) |
JP (1) | JP5279993B2 (en) |
KR (1) | KR20070009473A (en) |
CN (1) | CN1911159B (en) |
AU (1) | AU2006202957B2 (en) |
BR (1) | BRPI0602805A (en) |
CA (1) | CA2552180C (en) |
IL (1) | IL176790A0 (en) |
MX (1) | MXPA06008074A (en) |
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BRPI0602805A (en) | 2007-03-06 |
IL176790A0 (en) | 2006-10-31 |
AU2006202957A1 (en) | 2007-02-01 |
CN1911159B (en) | 2010-11-03 |
CN1911159A (en) | 2007-02-14 |
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JP2007108163A (en) | 2007-04-26 |
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US20070032960A1 (en) | 2007-02-08 |
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